Automatic pipe cover diameter identification method based on cover opening and closing device and cover opening and closing device

Abstract

The invention discloses an automatic pipe cover diameter identification method based on a cover opening and closing device and the cover opening and closing device. The automatic pipe cover diameter identification method comprises the steps that the horizontal distance L1 from a first pivot to the center of a linkage piece is measured in advance; measuring the horizontal distance L2 between the second pivot and the inner side of the chuck corresponding to the second pivot; the linear distance L3 between the first pivot and the second pivot is measured; carrying out a calibration test by using a container cover with a known diameter D0 so as to determine an association relationship between a vertical calibration distance H0 of the first pivot and the second pivot and a calibration position Loc0 of a coding disc of the motor; the method comprises the steps of obtaining the current coding disc position Locc'of the motor, determining the current vertical height H 'associated with the Locc', and determining the diameter D 'of the container cover clamped by the chuck at present according to L1, L2, L3, H' and the Pythagorean theorem. The method can automatically recognize the diameter of the pipe cover, and is simple in structure and high in reliability.

Description

Technical Field

[0001] The present invention relates to the field of sample tube diameter recognition, and in particular to an automatic tube cover diameter recognition method based on a cover opening and closing device and a cover opening and closing device. Background Art

[0002] In the sample processing process, such as the inspection and analysis of blood and serum samples, the sample container is held in a rack and transported, and then various processing is performed by various detection devices installed on the transport path. In such a detection process, a large number of sample tubes of different specifications enter the instrument in the early stage, and they need to be judged and sorted as soon as possible, which requires improving the processing efficiency. In medical experiments, how to quickly process the disordered sample tubes of different specifications in a unified and classified manner and operate them efficiently and stably for a long time is a problem to be solved.

[0003] Generally, in a feeding mechanism, a plurality of leakage holes are arranged in sequence on an inclined plate, and the sizes of the leakage holes are arranged in sequence from small to large. The sample tube rolls along the inclined plate, and sample tubes of different diameters pass through different leakage holes, so as to distinguish sample tubes of different diameters. The effect of this distinction is extremely limited, because the opening of the sample tube includes a tube cover, and the diameter of the tube cover is larger than the tube body. The above-mentioned prior art used to distinguish leakage holes of different tube diameters should also consider allowing the tube cover of the sample tube to pass through together with the sample tube, but the diameters of tube caps of different manufacturers are inconsistent.

[0004] In the prior art, a system for detecting the diameter of the sample tube cap is used, the diameter detection system is built into the chuck, or a separate tube cap detection system is set up to detect the diameter of the tube cap. Both of the above methods require the addition of a separate detection component or a separate system to detect the sample tube cap, which is complex in structure and difficult to meet the actual requirements in terms of reliability.

[0005] The disclosure of the above background technology content is only used to assist in understanding the inventive concept and technical solution of the present invention. It does not necessarily belong to the prior art of this patent application, nor does it necessarily provide technical guidance. In the absence of clear evidence that the above content has been disclosed before the filing date of this patent application, the above background technology should not be used to evaluate the novelty and creativity of the present application. Summary of the invention

[0006] The object of the present invention is to provide an automatic tube cap diameter recognition method based on a cap opening and closing device with simple structure and high reliability, which can realize automatic recognition based on the cap opening and closing device without separately setting up complex detection components or detection systems.

[0007] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0008] An automatic tube cover diameter recognition method based on a cover opening and closing device, used to determine the diameter of a container cover when or after the clamp of the cover opening and closing device clamps the container cover to be tested;

[0009] The lid opening and closing device comprises a first power device and a plurality of clamps, wherein the first power device comprises a motor, a linkage rod, a linkage member, and a plurality of connecting rods corresponding to the plurality of clamps, one end of each connecting rod is connected to the linkage member via a first pivot (9), and the other end thereof is connected to the corresponding clamp via a second pivot; if the motor drives the linkage rod to drive the linkage member to move in a direction away from the clamp, the angle between the connecting rod and the linkage rod in the length direction decreases, and then the plurality of clamps tend to approach each other to clamp the container lid;

[0010] The automatic pipe cap diameter recognition method comprises the following steps:

[0011] Pre-measure the horizontal distance from the first pivot to the center of the linkage, which is defined as L1; measure the horizontal distance between the second pivot and the inner side of the corresponding chuck, which is defined as L2; ​​and measure the linear distance between the first pivot and the second pivot, which is defined as L3;

[0012] A calibration test is performed using a container lid with a known diameter D0 to determine the correlation between the vertical calibration distance H0 of the first pivot and the second pivot and the calibration position Loc0 of the encoder disk of the motor;

[0013] In response to the multiple clamps clamping the container cover, the motor stops driving, and the current encoder disk position of the motor is obtained and defined as Loc';

[0014] According to the association relationship between H0 and Loc0, determine the current vertical height associated with Loc' and define it as H';

[0015] According to L1, L2, L3, H' and the Pythagorean theorem, the diameter D' of the container cover currently clamped by the chuck is determined as the recognition result of the diameter of the tube cover to be measured.

[0016] Further, based on any one of the above-mentioned technical solutions or a combination of multiple technical solutions, the cover opening and closing device further includes a screw rod, and the screw rod is connected to the motor and the linkage rod;

[0017] The current vertical height associated with Loc' is determined according to the association relationship between H0 and Loc0, specifically, the current vertical height H' associated with Loc' is determined in the following manner:

[0018] The motor drives the linkage rod to perform linear motion via the screw rod;

[0019] The rotation ratio of the motor to the screw is predetermined to be n:1, and the single-turn lead of the screw is determined to be l0;

[0020] Calculate the encoder disk position difference between Loc' and Loc0 to determine the number of motor revolutions q1 that differ between the two, and calculate the vertical height difference △H = q1 / n×l0 according to the following formula;

[0021] If Loc'>Loc0, then H'=H0+△H; if Loc' is less than Loc0, then H'=H0-△H.

[0022] Further, based on any one of the above-mentioned technical solutions or a combination of multiple technical solutions, the diameter D' of the container lid currently clamped by the chuck is determined according to L1, L2, L3, H' and the Pythagorean theorem, specifically:

[0023] Calculate the diameter D' of the container cap currently clamped by the chuck according to the following formula:

[0024]

[0025] Further, based on any one of the above-mentioned technical solutions or a combination of multiple technical solutions, it also includes pre-establishing a mapping table according to L1, L2, L3, H' and the Pythagorean theorem, for storing a plurality of mapping relationships between current encoder disk positions Loc' and the diameter D' of the container cover, and / or storing a plurality of mapping relationships between current vertical heights H' and the diameter D' of the container cover;

[0026] By querying the mapping table, the diameter D' of the container lid corresponding to the closest motor encoder disk position Loc' or the closest vertical height H' in the table is used as the diameter of the container lid to be tested.

[0027] Further, based on any one of the above-mentioned technical solutions or a combination of multiple technical solutions, the opening and closing cover device also includes a base, and the base is provided with a plurality of limit slots, each of the limit slots corresponds to a chuck, and the chuck is arranged on the outer side of the base through the limit slot;

[0028] Each of the clamps is connected to a limiting screw, and the movement of the limiting screw in the limiting groove drives the clamp to move, thereby clamping or loosening the lid of the container to be tested.

[0029] Further, based on any one of the above-mentioned technical solutions or a combination of multiple technical solutions, the linkage member (320) further includes a first body, a second body and a first elastic member;

[0030] The first body includes a probe;

[0031] One end of the second body includes a conductive portion that cooperates with the probe;

[0032] The other end of the second body is connected to the connecting rod;

[0033] The lower end of the first elastic member is connected to the first body, and the upper end of the first elastic member is connected to the second body.

[0034] Further, based on any one of the above-mentioned technical solutions or a combination of multiple technical solutions, the opening and closing cover device also includes a shell, a support rod, a base and a detection device;

[0035] The upper end of the support rod is connected to the shell and is used to support the shell;

[0036] The lower end of the support rod is connected to the base;

[0037] The detection device is arranged at the lower part of the housing, and is used to send a detection signal to the motor after identifying the lid of the container to be detected. In response to the detection signal, the motor drives the linkage rod to perform linear motion through the lead screw.

[0038] Further, based on any one of the technical solutions or a combination of multiple technical solutions mentioned above, the opening and closing cover device also includes a controller, and the controller is electrically connected to the first power device.

[0039] Further, based on any one of the above-mentioned technical solutions or a combination of multiple technical solutions, the opening and closing cover device also includes a human-computer interaction module;

[0040] The human-computer interaction module is arranged on the outer side of the housing and is electrically connected to the controller;

[0041] The human-computer interaction module stores the values ​​of L1, L2, and L3, and is also used to calculate the vertical height H' according to the current encoder disk position of the motor; and calculate and display the diameter of the container lid to be tested according to the vertical height H'.

[0042] Further, based on any one of the technical solutions or a combination of multiple technical solutions described above, the human-computer interaction module stores the mapping table, and uses the diameter D' of the container lid corresponding to the closest motor encoder disk position Loc' or the closest vertical height H' in the mapping table as the diameter of the current container lid to be tested, and the human-computer interaction module displays the tube cover diameter.

[0043] The beneficial effects brought by the technical solution provided by the present invention are as follows:

[0044] a. There is no need to set up a separate detection / identification system, nor is there any need to add an identification system to the probe module. Instead, the original components of the cover opening and closing device can be used to properly set up simple detection / signal sending components to calculate the tube cover diameter. This has the advantages of simple hardware structure, convenient operation, and high accuracy.

[0045] b. The complex, redundant and unreliable sample tube cap diameter detection system is eliminated. The tube cap diameter can be known after the tube cap is clamped, and subsequent corresponding operations related to the tube cap diameter can be easily performed. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0047] Figure 1 A schematic diagram of an automatic tube cap diameter recognition method based on a cap opening and closing device provided as an exemplary embodiment of the present invention;

[0048] Figure 2 A schematic diagram of an opening and closing cover device provided for an exemplary embodiment of the present invention;

[0049] Figure 3 A schematic diagram of a first partial structure of an opening and closing cover device provided for an exemplary embodiment of the present invention;

[0050] Figure 4 A second partial structural schematic diagram of an opening and closing cover device provided by an exemplary embodiment of the present invention;

[0051] Figure 5 A third partial structural schematic diagram of an opening and closing cover device provided for an exemplary embodiment of the present invention;

[0052] Figure 6 A partial schematic diagram of the chassis structure of an opening and closing cover device provided by an exemplary embodiment of the present invention;

[0053] Figure 7 for Figure 4 A partial enlarged schematic diagram of a part.

[0054] Among them, the figure marks include: 100-base, 110-limiting groove, 210-first chuck, 220-second chuck, 230-connecting piece, 310-linking rod, 320-linking piece, 330-connecting rod, 410-shell, 420-support rod, 430-base, 440-suction cup, 460-detection device, 470-human-computer interaction module, 5-container cover, 610-first body, 612-probe, 614-extension part, 620-second body, 622-conductive part, 624-protrusion, 630-first elastic part, 7-screw, 8-motor, 9-first pivot, 10-second pivot. DETAILED DESCRIPTION

[0055] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0056] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, device, product or equipment that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0057] An automatic tube cap diameter recognition method based on a cap opening and closing device is provided. Figure 1-3 As shown, it is used to determine the diameter of the container cover when or after the clamp of the cover opening and closing device clamps the container cover to be tested;

[0058] The lid opening and closing device comprises a first power device and a plurality of clamps, wherein the first power device comprises a motor 8, a linkage rod 310, a linkage member 320, and a plurality of connecting rods 330 corresponding to the plurality of clamps (210, 220), one end of each connecting rod 330 is connected to the linkage member 320 via a first pivot 9, and the other end thereof is connected to the corresponding clamp via a second pivot 10; if the motor 8 drives the linkage rod 310 to drive the linkage member 320 to move in a direction away from the clamp, the angle between the connecting rod 330 and the linkage rod 310 in the length direction is reduced, and then the plurality of clamps tend to approach each other to clamp the container lid 5;

[0059] The automatic pipe cap diameter recognition method comprises the following steps:

[0060] Pre-measure the horizontal distance from the first pivot 9 to the center of the linkage 320, which is defined as L1; measure the horizontal distance between the second pivot 10 and the inner side of the corresponding chuck, which is defined as L2; ​​and measure the linear distance between the first pivot 9 and the second pivot 10, which is defined as L3;

[0061] A calibration test is performed using a container lid with a known diameter D0 to determine the correlation between the vertical calibration distance H0 of the first pivot and the second pivot and the calibration position Loc0 of the encoder disk of the motor 8;

[0062] In response to the multiple clamps clamping the container cover, the motor stops driving, and the current encoder disk position of the motor 8 is obtained, which is defined as Loc';

[0063] According to the association relationship between H0 and Loc0, determine the current vertical height associated with Loc' and define it as H';

[0064] According to L1, L2, L3, H' and the Pythagorean theorem, the diameter D' of the container cover currently clamped by the chuck is determined as the recognition result of the diameter of the tube cover to be measured.

[0065] The automatic tube cap diameter recognition method based on the cover opening and closing device of the present invention does not need to set up a separate detection / recognition system, nor does it need to add a recognition system to the probe module. Instead, the tube cap diameter can be calculated by appropriately setting up / utilizing the detection / signal sending components of the original components of the cover opening and closing device. The method has the advantages of simple hardware structure, easy operation, high accuracy, etc.

[0066] It is worth noting that the embodiment of the present invention is described using a disclosed opening and closing cover device as an example. The patent application number is: 202210371344.8, the publication number is: CN114436185A, and the invention name is: Opening and closing cover device for swing-off container and biological sample collection method. The disclosed content of CN114436185A is incorporated into the embodiment of the present invention by full reference. However, the automatic tube cap diameter recognition method in this article is not limited to this device alone. It is only an exemplary opening and closing cover device used by the present invention for the convenience of describing the scheme.

[0067] In one embodiment of the present invention, Figure 3 As shown, the opening and closing cover device further includes a screw rod 7 and a connecting member 230 , wherein the screw rod 7 is connected to the motor 8 and the linkage rod 310 ; and the connecting member 230 is rotationally connected to the connecting rod 330 .

[0068] The current vertical height associated with Loc' is determined according to the association relationship between H0 and Loc0, specifically, the current vertical height H' associated with Loc' is determined in the following manner:

[0069] The motor 8 drives the linkage rod 310 to perform linear motion via the screw rod 7;

[0070] The rotation ratio of the motor 8 to the screw rod 7 is predetermined to be n:1, and the single-turn lead of the screw rod 7 is determined to be l0;

[0071] Calculate the encoder disk position difference between Loc' and Loc0 to determine the number of motor revolutions q1 that differ between the two, and calculate the vertical height difference △H = q1 / n×l0 according to the following formula;

[0072] If Loc'>Loc0, then H'=H0+△H; if Loc' is less than Loc0, then H'=H0-△H.

[0073] In one embodiment of the present invention, the diameter D' of the container lid currently clamped by the chuck is determined according to L1, L2, L3, H' and the Pythagorean theorem, specifically:

[0074] Calculate the diameter D' of the container lid currently clamped by the chuck according to the following formula:

[0075]

[0076] In one embodiment of the present invention, a mapping table is pre-established according to L1, L2, L3, H' and the Pythagorean theorem to store a plurality of mapping relationships between current encoder disk positions Loc' and diameters D' of container lids, and / or to store a plurality of mapping relationships between current vertical heights H' and diameters D' of container lids;

[0077] By querying the mapping table, the diameter D' of the container lid corresponding to the closest motor encoder disk position Loc' or the closest vertical height H' in the table is used as the diameter of the container lid to be tested.

[0078] In one embodiment of the present invention, as shown in the attached Figure 1 and 6 As shown, the opening and closing cover device also includes a base 100, and a plurality of limiting through grooves 110 are arranged on the base 100, each of the limiting through grooves 110 corresponds to a chuck, and the chuck is arranged on the outer side of the base 100 through the limiting through grooves 110; each of the chucks is connected to a limiting screw, and the movement of the limiting screw in the limiting groove 110 drives the chuck to move, thereby clamping or loosening the lid of the container to be tested.

[0079] The base 100 is provided with a strip-shaped limiting slot 110 corresponding to the plurality of clamps one by one, and the virtual extension lines of the plurality of limiting slots 110 converge at the center point. The clamp is arranged on the outside of the base 100 through the limiting slot 110, and at least a part of the base 100 can be exposed through the opening, that is, the clamp can be exposed through the opening, so that the staff can use the area for accommodating the container cover formed by the plurality of clamps to open and close the container cover 5.

[0080] In one embodiment of the present invention, as shown in the attached Figure 7 As shown, the linkage member 320 also includes a first body 610, a second body 620 and a first elastic member 630; the first body 610 includes a probe 612; one end of the second body 620 includes a conductive part 622 that cooperates with the probe; the other end of the second body 620 is connected to the connecting rod 330; the lower end of the first elastic member 630 is connected to the first body 610, and the upper end of the first elastic member 630 is connected to the second body 620.

[0081] The first main body 610 is also provided with an extension portion 614 extending toward the lower part of the second main body 620, and the second main body 620 is also provided with a cavity for accommodating the extension portion 614, and a protrusion 624 is provided on the cavity wall of the cavity; the first elastic member 630 is arranged in the cavity, and its upper end is abutted against the lower surface of the protrusion 624, and its lower end is connected to the extension portion 614.

[0082] In one embodiment of the present invention, as shown in the attached Figure 1As shown, the opening and closing cover device also includes a shell 410, a support rod 420, a base 430, a suction cup 440 and a detection device 460; the upper end of the support rod 420 is connected to the shell 410 for supporting the shell 410; the lower end of the support rod 420 is arranged on the base 430; the suction cup 440 is arranged at the lower part of the base 430 for fixing the opening and closing cover device; the detection device 460 is arranged at the lower part of the shell 410 for identifying the lid of the container to be tested and sending a detection signal to the motor 8, and the motor 8 drives the linkage rod 310 to perform linear motion through the lead screw 7 in response to the detection signal.

[0083] The detection direction of the detection device 460 is toward the operating area below the clamp. For example, during the process of opening and closing the cover, the detection device 460 can detect the container body or the cover.

[0084] In one embodiment of the present invention, the opening and closing cover device further includes a controller (not shown in the figure), and the controller is electrically connected to the first power device.

[0085] A controller, whose input end is electrically connected to the clamping detection device 460, and whose output end is electrically connected to the first power device. If the probe 612 and the conductive part 622 of the clamping detection device 460 are converted from a contact state to a separation to a preset distance, or the probe 612 and the conductive part 622 are converted from a separation state to a contact state, the controller controls the first power device to stop working.

[0086] In one embodiment of the present invention, as shown in the attached Figure 1 As shown, the opening and closing cover device also includes a human-machine interaction module 470; the human-machine interaction module 470 is arranged on the outer side of the shell 410 and is electrically connected to the controller; the human-machine interaction module 470 includes a built-in control mainboard and a touch display screen, the control mainboard stores the values ​​of L1, L2, and L3, and is also used to calculate the vertical height H' according to the current encoder disk position of the motor 8; according to the vertical height H', the diameter D' of the container cover corresponding to the closest motor encoder disk position Loc' or the closest vertical height H' in the mapping table is used as the diameter of the current container cover to be tested, and the human-machine interaction module 470 displays the tube cover diameter.

[0087] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0088] The above is only a specific implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. An automatic tube cap diameter recognition method based on a cap opening and closing device, characterized in that: Used to determine the diameter of the container cover when or after the clamp of the cover opening and closing device clamps the container cover to be tested; The lid opening and closing device comprises a first power device and a plurality of clamps (210, 220), wherein the first power device comprises a motor (8), a linkage rod (310), a linkage member (320), and a plurality of connecting rods (330) corresponding to the plurality of clamps, one end of each connecting rod (330) is connected to the linkage member (320) via a first pivot (9), and the other end thereof is connected to the corresponding clamp via a second pivot (10); if the motor (8) drives the linkage rod (310) to drive the linkage member (320) to move in a direction away from the clamp, the angle between the connecting rod (330) and the linkage rod (310) in the length direction decreases, and thus the plurality of clamps tend to approach each other so as to clamp the container lid; The automatic pipe cap diameter recognition method comprises the following steps: Pre-measure the horizontal distance from the first pivot (9) to the center of the linkage (320), which is defined as L1; measure the horizontal distance between the second pivot (10) and the inner side of the corresponding chuck, which is defined as L2; ​​and measure the linear distance between the first pivot (9) and the second pivot (10), which is defined as L3; A calibration test is performed using a container lid with a known diameter D0 to determine the correlation between the vertical calibration distance H0 of the first pivot (9) and the second pivot (10) and the calibration position Loc0 of the encoder disk of the motor (8); In response to the plurality of clamps clamping the container lid, the motor (8) stops driving, and the current encoder disk position of the motor (8) is obtained and defined as Loc'; According to the association relationship between H0 and Loc0, determine the current vertical height associated with Loc' and define it as H'; According to L1, L2, L3, H' and the Pythagorean theorem, the diameter D' of the container cover currently clamped by the chuck is determined as the recognition result of the diameter of the tube cover to be measured.

2. The automatic pipe cap diameter recognition method according to claim 1, characterized in that: The opening and closing cover device further comprises a screw rod (7), wherein the screw rod (7) is connected to the motor (8) and the linkage rod (310); The current vertical height associated with Loc' is determined according to the association relationship between H0 and Loc0, specifically, the current vertical height H' associated with Loc' is determined in the following manner: The motor (8) drives the linkage rod (310) to perform linear motion via the screw rod (7); The rotation ratio of the motor (8) and the screw rod (7) is predetermined to be n:1, and the single-turn lead of the screw rod (7) is determined to be l0; Calculate the encoder disk position difference between Loc' and Loc0 to determine the number of motor revolutions q1 that differ between the two, and calculate the vertical height difference △H = q1 / n×l0 according to the following formula; If Loc'>Loc0, then H'=H0+△H; if Loc' is less than Loc0, then H'=H0-△H.

3. The automatic pipe cap diameter recognition method according to claim 1, characterized in that: According to L1, L2, L3, H' and the Pythagorean theorem, the diameter D' of the container lid currently clamped by the clamp is determined as follows: Calculate the diameter D' of the container lid currently clamped by the chuck according to the following formula:

4. The automatic pipe cap diameter recognition method according to claim 2, characterized in that: It also includes pre-establishing a mapping table based on L1, L2, L3, H' and the Pythagorean theorem, for storing a plurality of mapping relationships between current encoder disk positions Loc' and diameters D' of container lids, and / or storing a plurality of mapping relationships between current vertical heights H' and diameters D' of container lids; By querying the mapping table, the diameter D' of the container lid corresponding to the closest motor encoder disk position Loc' or the closest vertical height H' in the table is used as the diameter of the container lid to be tested.

5. The automatic tube cap diameter recognition method based on the cap opening and closing device according to any one of claims 1 to 4, characterized in that: The opening and closing cover device further comprises a base (100), the base (100) being provided with a plurality of limiting through slots (110), each of the limiting through slots (110) corresponding to one of the clamps, and the clamp is arranged on the outer side of the base (100) through the limiting through slots (110); Each of the clamps is connected to a limiting screw, and the movement of the limiting screw in the limiting groove (110) drives the clamp to move, thereby enabling the clamping or loosening of the lid of the container to be tested by the multiple clamps.

6. The automatic tube cap diameter recognition method based on the cap opening and closing device according to any one of claims 1 to 4, characterized in that: The linkage member (320) further comprises a first body (610), a second body (620) and a first elastic member (630); The first body (610) includes a probe (612); One end of the second body (620) includes a conductive portion (622) that matches the probe (612); The other end of the second body (620) is connected to the connecting rod (330); The lower end of the first elastic member (630) is connected to the first main body (610), and the upper end of the first elastic member (630) is connected to the second main body (620).

7. The automatic tube cap diameter recognition method based on the cap opening and closing device according to claim 4, characterized in that: The opening and closing cover device also includes a housing (410), a support rod (420), a base (430) and a detection device (460); The upper end of the support rod (420) is connected to the housing (410) and is used to support the housing (410); The lower end of the support rod (420) is connected to the base (430); The detection device (460) is arranged at the lower part of the housing (410) and is used to send a detection signal to the motor (8) after identifying the lid of the container to be detected. In response to the detection signal, the motor (8) drives the linkage rod (310) to move linearly through the lead screw (7).

8. The automatic tube cap diameter recognition method based on the cap opening and closing device according to claim 7, characterized in that: The opening and closing cover device also includes a controller, and the controller is electrically connected to the first power device.

9. The automatic tube cap diameter recognition method based on the cap opening and closing device according to claim 8, characterized in that: The opening and closing cover device also includes a human-computer interaction module (470); The human-machine interaction module (470) is arranged on the outside of the side of the housing (410) and is electrically connected to the controller; The human-computer interaction module (470) stores the values ​​of L1, L2, and L3, and is also used to calculate the vertical height H' according to the current encoder disk position of the motor (8); and calculate and display the diameter of the lid of the container to be tested according to the vertical height H'.

10. The automatic tube cap diameter recognition method based on the cap opening and closing device according to claim 9, characterized in that: The human-computer interaction module (470) stores the mapping table, and uses the diameter D' of the container lid corresponding to the closest motor encoder disk position Loc' or the closest vertical height H' in the mapping table as the diameter of the container lid to be tested, and the human-computer interaction module (470) displays the tube lid diameter.

11. A cover opening and closing device, characterized in that: The invention comprises a controller configured to execute the steps of the automatic pipe cap diameter identification method according to any one of claims 1 to 10.

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